Submersible vehicle with optical fiber

ABSTRACT

A submersible vehicle is provided which includes a housing, an optical fiber coupled with the housing and communicatively coupled with a data acquisition system, and a propulsion system. The propulsion system is configured to propel the submersible vehicle in a fluid at a velocity. The optical fiber is configured to be released at a release rate equal to or greater than the velocity of the submersible vehicle.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a national stage entry of PCT/US2017/058552 filedOct. 26, 2017, said application is expressly incorporated herein in itsentirety.

FIELD

The present disclosure relates generally to submersible vehicles. Inparticular, the present disclosure relates to submersible vehiclesconfigured to propel through fluid and release an optical fiber within afluidic channel.

BACKGROUND

Wellbores are drilled into the earth for a variety of purposes includingtapping into hydrocarbon bearing formations to extract the hydrocarbonsfor use as fuel, lubricants, chemical production, and other purposes.Fluidic channels such as wellbores or pipelines need to be inspected todetermine issues such as leaks, blockages, or structural erosion ordamage.

Pipeline inspection gadgets (PIGs) may be used in pipelines forapplications such as, for example, hydrostatic testing, pipelinecleanup, batch transportation, or inspection. PIGs are pushed throughthe pipeline by the fluid flowing through the pipeline. Also, PIGs storethe measured data on an internal storage within the PIG. As such, themeasured data from a PIG is accessible when the PIG has been retrievedfrom the pipeline.

BRIEF DESCRIPTION OF THE DRAWINGS

Implementations of the present technology will now be described, by wayof example only, with reference to the attached figures, wherein:

FIG. 1 is a diagram illustrating an exemplary environment for asubmersible vehicle according to the present disclosure;

FIG. 2 is a diagram illustrating a submersible vehicle according to thepresent disclosure; and

FIG. 3 is a flow chart of a method for utilizing an exemplarysubmersible vehicle.

DETAILED DESCRIPTION

It will be appreciated that for simplicity and clarity of illustration,where appropriate, reference numerals have been repeated among thedifferent figures to indicate corresponding or analogous elements. Inaddition, numerous specific details are set forth in order to provide athorough understanding of the examples described herein. However, itwill be understood by those of ordinary skill in the art that theexamples described herein can be practiced without these specificdetails. In other instances, methods, procedures and components have notbeen described in detail so as not to obscure the related relevantfeature being described. Also, the description is not to be consideredas limiting the scope of the embodiments described herein. The drawingsare not necessarily to scale and the proportions of certain parts may beexaggerated to better illustrate details and features of the presentdisclosure.

In the above description, reference to up or down is made for purposesof description with “up,” “upper,” “upward,” “uphole,” or “upstream”meaning toward the surface of the wellbore or the first (or proximal)end of the fluidic channel, and with “down,” “lower,” “downward,”“downhole,” or “downstream” meaning toward the terminal end of the well,regardless of the wellbore orientation, or toward the second (or distal)end of the fluidic channel. Correspondingly, the transverse, axial,lateral, longitudinal, radial, etc., orientations shall meanorientations relative to the orientation of the wellbore or device. Theterm “axially” means substantially along a direction of the axis of theobject. If not specified, the term axially is such that it refers to thelonger axis of the object.

Several definitions that apply throughout the above disclosure will nowbe presented. The term “coupled” is defined as connected, whetherdirectly or indirectly through intervening components, and is notnecessarily limited to physical connections. The connection can be suchthat the objects are permanently connected or releasably connected. Theterm “outside” or “outer” refers to a region that is beyond theoutermost confines of a physical object. The term “inside” or “inner”refers to a region that is within the outermost confines of a physicalobject. The term “substantially” is defined to be essentially conformingto the particular dimension, shape or other word that substantiallymodifies, such that the component need not be exact. For example,“substantially cylindrical” means that the object resembles a cylinder,but can have one or more deviations from a true cylinder. The terms“comprising,” “including” and “having” are used interchangeably in thisdisclosure. The terms “comprising,” “including” and “having” mean toinclude, but not necessarily be limited to the things so described. Theterm “real-time” or “real time” means substantially instantaneously. Theterm “proximate” means close to, nearby, or closer to than others. Forexample, “proximate the first end” means closer to the first end than tothe second end.

Disclosed herein is a submersible vehicle to be used in a fluidicchannel. A fluidic channel can be, for example, a wellbore, a pipeline,or any channel with a fluid inside of the channel with a first end and asecond end. The first end of the fluidic channel is open such that thesubmersible vehicle can be deployed into the fluidic channel through thefirst end. The submersible vehicle has a propulsion system such that thesubmersible vehicle can be propelled in the fluid regardless of the flowof the fluid. For example, if there is a blockage in the fluidic channelsuch that no fluid can flow, the submersible vehicle can still propelitself through the fluidic channel. The submersible vehicle can propelitself through the fluidic channel at a rate faster, slower, or againstthe flow of the fluid within the fluidic channel. As such, thesubmersible vehicle is not dependent on the flow of the fluid to betransported through the fluidic channel.

As the submersible vehicle is propelled in the fluidic channel from thefirst end to the second end, an optical fiber is released to the extentnecessary to avoid breaking the optical fiber as a result of themovement of the submersible vehicle and/or the flow of the fluid. Forexample, the optical fiber can be released substantially continuouslyand/or can be released intermittently. The optical fiber may be releasedat a rate (such as in terms of length/time) equal to or greater than themagnitude of velocity of the submersible vehicle; also, the opticalfiber may be released such that the optical fiber is at rest relative tothe fluid.

The optical fiber is connected to a data acquisition system, which maybe proximate to the first end of the fluidic channel. The dataacquisition system may be statically positioned at a control point, suchthat it can be accessed directly or remotely by a human or electronicoperator.

The optical fiber can be used to transmit, in real-time, measuredparameters to the data acquisition system. The submersible vehicle mayhave sensors such that the measured data is transmitted through theoptical fiber. Additionally, the optical fiber may, itself, be a sensor.For example, the optical fiber may be used as a distributed temperaturesensor, a distributed acoustic sensor, a distributed pressure sensor, achemical sensor, a camera, or an x-ray sensor. With the measuredparameters, an operator can easily inspect the fluidic channel. Forexample, in inspecting a pipeline, the pipeline may be closed on bothends and pressurized. The optical fiber can then determine leaks in thepipeline based on acoustic data, such as fizzing sounds. In otherexamples, the optical fiber may act as a camera and pass along visualsto the data acquisition system. The operator may then have visuals inreal-time on the fluidic channel, such as to see blockages in thefluidic channel.

The submersible vehicle can be employed in an exemplary system 100shown, for example, in FIG. 1. FIG. 1 illustrates a submersible vehicle102 deployed in a fluidic channel 106. The fluidic channel 106 has afirst end 1060 and a second end 1062. The fluidic channel 106illustrated in FIG. 1 is a pipeline. Each of the first end 1060 and thesecond end 1062 are open such that the first and second ends 1060, 1062are accessible by an operator and fluid can flow through the open ends.In other examples, the second end 1062 of the fluidic channel 106 isclosed such that fluid cannot flow through the second end 1062. As such,the fluidic channel 106 can be, for example, a pipeline, a wellbore, adrill string, or any channel through which fluid flows. In at least oneexample, the first and second ends 1060, 1062 can be located along anypoint of the fluidic channel 106. For example, the first end 1060 may belocated in the middle of the fluidic channel 106. The first end 1060 isany entry point to gain access to the fluidic channel 106. Asillustrated in FIG. 1, the fluidic channel 106 has a vertical section1064 and a horizontal section 1066. In other examples, the fluidicchannel 106 can extend only in one direction or multiple directionsalong any axis.

The fluidic channel 106 includes a fluid 108 which is contained withinthe walls 107 of the fluidic channel 106. The fluid 108 can be one fluidor more than one fluid. The fluid 108 can include, for example, water oroil. The fluid 108 can also substantially fill the entire fluidicchannel 106. In other examples, the fluid 108 can partially fill thefluidic channel 106.

Referring also to FIG. 2, the submersible vehicle 102 includes a housing202. The housing 202 of the submersible vehicle 102 can be any materialthat can withstand the pressures and corrosive properties of the fluidicchannel 106. The housing 202 of the submersible vehicle 102 can beinexpensive and degradable such that the submersible vehicle 102 doesnot have to be retrieved. The housing 202 of the submersible vehicle 102can include, for example, a metal or a plastic such as acetal resin,polyether ether ketone, aluminum, polyimide, and engineeredthermoplastics. In other examples, the housing 202 of the submersiblevehicle 102 can be a resilient material, such as steel, such that thesubmersible vehicle 102 can be retrieved and re-used multiple times. Thesubmersible vehicle 102 may be buoyant such that the submersible vehicle102 does not sink and drag along the bottom of the fluidic channel 106.

The submersible vehicle 102 is configured to be propelled at a velocitywithin the fluidic channel 106 independent of the flow rate of the fluid108. The velocity of the submersible vehicle 102 is in relation to thefluidic channel 106. As such, the flow rate of the fluid 108 is notconsidered when determining the velocity of the submersible vehicle 102.The submersible vehicle 102 is propelled by a propulsion system 2022toward the second end 1062 of the fluidic channel 106. The propulsionsystem 2022 can be any suitable system to cause the submersible vehicle102 to move within a fluid 106, independent of the flow rate of thefluid 106. For example, the propulsion system 2022 can be one or morepropellers, a pump-jet system where the moving parts are inside of thesubmersible vehicle 102, or any suitable propulsion system 2022 topropel the submersible vehicle 102 within a fluid 106. To power thepropulsion system 2022, the submersible vehicle 102 may include a powersource such as lithium batteries or slow-burning chemical charges. Inother examples, any suitable power source can be utilized such that thepropulsion system 2022 receives adequate power to propel the submersiblevehicle 102 from the first end 1060 to the second end 1062 of thefluidic channel 106. Slow-burning chemical charges can also be utilizedas a propulsion system 2022 to release a jet of hot gas or steam forrocket-like propulsion. In at least one example, the submersible vehicle102 can be propelled at a velocity greater than the flow of the fluid108. In other examples, if the fluid 108 is not moving, due tocircumstances such as blockages or that the fluidic channel 106 is notbeing utilized, the submersible vehicle 102 can be propelled such thatthe submersible vehicle 102 traverses through the fluidic channel 106.The submersible vehicle 102 may include fins 2023, which can assist incontrolling the direction, orientation, and/or stability of thesubmersible vehicle 102. The fins 2023 can be adjustable. When the fins2023 are adjustable, the fins 2023 are powered by a motor. The motor canbe operable to move the fins 2023. The motor may be connected to aprocessor which provides instructions to the motor to move the fins 2023as desired. In other examples, the fins 2023 are not adjustable.

The submersible vehicle 102 may include electronics 2024. Electronics2024 may include sensors which can detect and measure parameters of thefluidic channel 106. For example, the sensors may be cameras,temperature sensors, pressure sensors, acoustic sensors, or x-raysensors. Electronics 2024 may also include memory storage. The memorystorage may store the measured parameters. In at least one example, thesubmersible vehicle 102 does not include electronics 2024.

The submersible vehicle 102 includes a vehicle bobbin 204. The vehiclebobbin 204 provides an optical fiber 104. The optical fiber 104 iscoupled with the vehicle bobbin 204. For example, the optical fiber 104can be wound within the vehicle bobbin 204. In other examples, theoptical fiber 104 can be wound around the vehicle bobbin 204. In yetother examples, the optical fiber 104 can be wound such that the opticalfiber 104 is substantially folded so that a section of the optical fiber104 can be released at a time. In yet other examples, the optical fiber104 can be wound such that the optical fiber 104 overlaps itself andforms a ball-like structure which can be substantially spherical, ovoid,or any other suitable shape. The method of providing the optical fiber104 can vary so long as the optical fiber 104 is not damaged and isreleasable from the vehicle bobbin 204 in a controlled manner andwithout damaging the optical fiber 104. The vehicle bottom 204 iscoupled with the housing 202. The vehicle bobbin 204 can be containedwithin the housing 202. In other examples, the vehicle bobbin 204 can belocated behind the housing 202. The position of the vehicle bobbin 204can vary, so long as the optical fiber 104 being released from thevehicle bobbin 204 is not damaged by propulsion of the submersiblevehicle 102. For example, the vehicle bobbin 204 can be a hollowcylindrical shape. The propulsion of the submersible vehicle 102 may bereleased through the hollow portion of the vehicle bobbin 204. In otherexamples, the vehicle bobbin 204 can be a circular, rectangular,triangular, egg-shaped, or any other suitable shape to contain andrelease the optical fiber 104. Also, to avoid damaging the optical fiber104, the propulsion system 2022 may be positioned at the front of thebody 202. As such, the propulsion system 2022, for example a propeller,cannot become entangled with the optical fiber 104 being released fromthe rear of the submersible vehicle 102. In other examples, if thepropulsion system 2022 is, for example, a pump-jet system, where thepropulsion system 2022 is contained within the body 202 of thesubmersible vehicle 102, the propulsion system 2022 may not damage theoptical fiber 104 being released from the rear of the submersiblevehicle 102. The vehicle bobbin 204 can be made of any suitablematerial, such as plastics, metals, or a combination thereof.

The optical fiber 104 is released from the vehicle bobbin 204 at arelease rate equal to or greater than the velocity of the submersiblevehicle 102. Also, the movement of the fluid 108 affects the releaserate of the optical fiber 104. For example, if the fluid 108 is flowingin a direction opposite to the direction of the submersible vehicle 102,then the optical fiber 104 is released at a rate greater than thevelocity of the submersible vehicle 102. As such, the optical fiber 104is at rest relative to the fluid 108 such that the optical fiber 104does not experience stress which may break the optical fiber 104.

The optical fiber 104 can be released from the vehicle bobbin 204 suchthat the optical fiber 104 releases as the submersible vehicle 102 movesand/or as the fluid 108 flows. For example, the vehicle bobbin 204 mayfreely rotate such that as the submersible vehicle 102 moves and/or asthe fluid 108 flows, the vehicle bobbin 204 rotates in response to theline tension caused by the releasing optical fiber 104. The opticalfiber 104 can also be released from the vehicle bobbin 204 by acontroller which controls the vehicle bobbin 204 such that the vehiclebobbin 204 rotates by a motor and/or braking system to release theoptical fiber 104 in a controlled manner.

Additionally, the optical fiber 104 may also be partially provided by asecond bobbin 206, similar to or by any suitable ways as described abovewith the vehicle bobbin 204. The second bobbin 206 can be positioned atthe first end 1060 of the fluidic channel 106. As such, one end of theoptical fiber 104 may be coupled with the vehicle bobbin 204 while anopposite end of the optical fiber 104 may be coupled with the secondbobbin 206. Similar to the vehicle bobbin 204, the second bobbin 206 isconfigured to release the optical fiber 104 at a second release ratesuch that the optical fiber 104 is at rest relative to the fluid 108. Inat least one example, the system 100 may not include a second bobbin206.

In both the vehicle bobbin 204 and the second bobbin 206, the opticalfiber 104 may be wound to no smaller than a diameter where the opticalfiber 104 becomes pinched. If the optical fiber 104 becomes pinched, theoptical fiber 104 may break. As such, if a longer length of opticalfiber 104 is used, the length and/or the diameter of the vehicle bobbin204 and/or the second bobbin 206 may be increased.

The vehicle bobbin 204 and the second bobbin 206 may work together torelease the optical fiber 104 in the most efficient manner to preventbreakage of the optical fiber 104. For example, as illustrated in FIG.1, the submersible vehicle 102 initially moves vertically downward invertical section 1064. While moving vertically downward, the submersiblevehicle 102 may propel itself. The submersible vehicle 102 also may notpropel itself, relying on gravity to pull the submersible vehicle 102through the fluidic channel 106. During that time, the second bobbin 206may release the optical fiber 104 while the vehicle bobbin 204 may onlyperiodically, slowly, or may not release the optical fiber 104. When thesubmersible vehicle 102 begins propelling itself through the fluidicchannel 106 in another direction such as the horizontal section 1066illustrated in FIG. 1, to decrease stress and tension on the opticalfiber 104, the vehicle bobbin 204 may begin releasing the optical fiber104.

Referring again to FIG. 2, to avoid damage to the optical fiber 104, thelength 1020 of the submersible vehicle 102 may be greater than theinside diameter of the fluidic channel 106. Additionally, the length1020 of the submersible vehicle 102 is greater than the width 1021 ofthe submersible vehicle 102. As such, the submersible vehicle 102 maynot rotate upon itself, which can entangle or damage the optical fiber104.

The optical fiber 104 is communicatively coupled with a data acquisitionsystem 112. The optical fiber 104 is configured to transmit measuredparameters in real-time to the data acquisition system 112. The dataacquisition system 112 receives and processes data such that the datacan be used and interpreted by a user. The data acquisition system 112is located in a data center 110, which can be proximate to the first end1060 of the fluidic channel 106. The data center 110 may be aboveground, under water, underground, or located at any point to collectdata. For example, the data center 110 may be an underwater vehicle suchas a submarine. In other examples, the data center 110 may be located ona platform, as illustrated in FIG. 1.

The optical fiber 104 can function as a sensor which provides measuredparameters in real-time to the data acquisition system 112. The opticalfiber 104 is inexpensive, lightweight, and can transmit data at a higherbandwidth than traditional wire cables without the need for electricalpower. The optical fiber 104 can be configured to be, for example, adistributed temperature sensor, a distributed acoustic sensor, adistributed pressure sensor, a chemical sensor, a camera, and an x-raysensor. To obtain measurements, laser generated light pulses can be sentat timed intervals. The light returned is then analyzed by the dataacquisition system 112 and information, such as temperature and pressurevs. position on the optical fiber 104 can be determined. In otherexamples, to obtain measurements, an array of Fiber Bragg grating isimplemented in the optical fiber 104. With Fiber Bragg grating, acontinuous light source is used, and the measurement is based onwavelength interrogation by the data acquisition system 112.

Additionally, if the submersible vehicle 102 includes electronics 2024,the measured parameters may be transmitted through the optical fiber 104from the electronics 2024 in the submersible vehicle 102.

As such, the optical fiber 104 can be used as a sensor or used as acommunication link which can provide measured parameters in real-time tothe data acquisition system 112 to be processed and analyzed by a user.

When the submersible vehicle 102 reaches the second end 1062 of thefluidic channel 106, the submersible vehicle 102 may be retrieved. Forexample, if the second end 1062 of the fluidic channel 106 is open, thenthe submersible vehicle 102 may be manually retrieved. The submersiblevehicle 102 may also be retrieved at the second end 1062 with a mesh ornet where the fluid 108 flows through the net while the submersiblevehicle 102 is captured. In other examples, if the second end 1062 isclosed, such as in a wellbore, then the submersible vehicle 102 may bedeposited in the second end 1062, for example in a rat hole at thebottom of the wellbore, to be retrieved at a later time. Alternatively,the submersible vehicle 102 may be left in the closed second end 1062 todegrade and is not retrieved.

The optical fiber 104 may be released or separated from the dataacquisition system 112. For example, when the submersible vehicle 102reaches the second end 1062 of the fluidic channel 106, then the opticalfiber 104 may be released such that the movement of the fluid 108 maycarry the optical fiber 104 to the second end 1062 for retrieval. Inother examples, the optical fiber 104 may stay in the fluidic channel106, temporarily or permanently, to continuously measure parameters,such as distributed acoustic sensing measurements.

Referring to FIG. 3, a flowchart is presented in accordance with anexample embodiment. The method 300 is provided by way of example, asthere are a variety of ways to carry out the method. The method 300described below can be carried out using the configurations illustratedin FIGS. 1-2, for example, and various elements of these figures arereferenced in explaining example method 300. Each block shown in FIG. 3represents one or more processes, methods or subroutines, carried out inthe example method 300. Furthermore, the illustrated order of blocks isillustrative only and the order of the blocks can change according tothe present disclosure. Additional blocks may be added or fewer blocksmay be utilized, without departing from this disclosure. The examplemethod 300 can begin at block 302.

At block 302, a submersible vehicle and a fluidic channel are provided.The fluidic channel is at least partially filled with a fluid, such aswater or oil. The fluidic channel may be under ground, above ground, orunder water. The fluidic channel has a first end and a second end. Thefirst and second ends may be at any two points along the fluidicchannel. The first end is open to receive the submersible vehicle. Thesecond end may be open such that the fluid and/or the submersiblevehicle may pass through and be retrieved through the second end, suchas, for example, a pipeline. The second end may be closed such that thefluid and/or the submersible vehicle cannot pass through the second end,such as, for example, a wellbore. The submersible vehicle includes ahousing. The housing may be durable such that the submersible vehiclecan be retrieved. In other examples, the housing may be inexpensiveand/or degradable such that the submersible vehicle does not have to beretrieved. For example, the housing may be made of acetal resin,polyether ether ketone, aluminum, polyimide, and engineeredthermoplastics. The submersible vehicle also includes a propulsionsystem which is configured to propel the submersible vehicle independentof the flow rate of the fluid. The submersible vehicle includes avehicle bobbin which provides an optical fiber. A second bobbinproximate to the first end may also be provided which provides anopposite end of the optical fiber.

At block 304, the submersible vehicle is deployed in the fluid in thefluidic channel. The submersible vehicle can be deployed in the fluidicchannel through the first end of the fluidic channel.

At block 306, the submersible vehicle is propelled by the propulsionsystem. The propulsion system can be, for example, a propeller or apump-jet system. To power the propulsion system, the submersible vehiclecan include a power source such as lithium batteries or slow-burningchemical charges. In at least one example, the chemical charges mayfunction as the propulsion system by releasing a jet of hot gas or steamfor rocket-like propulsion. The propulsion system can propel thesubmersible vehicle independent of the flow rate of the fluid. Forexample, if the fluid is not flowing, then the propulsion system canstill propel the submersible vehicle towards the second end of thefluidic channel. Even if the fluid is flowing the opposite direction,the submersible vehicle can be propelled toward the second end of thefluidic channel.

While the submersible vehicle is moving toward the second end of thefluidic channel, at block 308, the optical fiber is being released fromthe vehicle bobbin and/or the second bobbin. The optical fiber isreleased at a release rate equal to or greater than the velocity of thesubmersible vehicle. Also, the optical fiber is released such that theoptical fiber is at rest relative to the fluid in the fluidic channel.As such, the release of the optical fiber is adjusted based on thevelocity of the vehicle as well as the movement of the fluid.

The optical fiber can be used to measure parameters of the fluidicchannel in real-time. For example, the optical fiber can be configuredto be at least one of a distributed temperature sensor, a distributedacoustic sensor, a distributed pressure sensor, a chemical sensor, acamera, and/or an x-ray sensor. As such, the measured parameters of thefluidic channel can be, for example, temperature, acoustics, pressure,chemical composition, visuals, and x-ray. In at least one example, thesubmersible vehicle can include electronics. The electronics in thesubmersible vehicle can include sensors to measure the parameters.

At block 310, the real-time measured parameters of the fluidic channelare transmitted, through the optical fiber, to a data acquisitionsystem. The measured parameters may also be provided, or transmitted, inreal-time through the optical fiber, as the optical fiber is itself thesensor. The measured parameters may also be transmitted in real-timethrough the optical fiber from the electronics, such as the sensors, inthe submersible vehicle. The data acquisition system receives andprocesses data such that the data can be used and interpreted by a user.The data acquisition system may be positioned proximate to the first endof the fluidic channel. Additionally, the electronics in the submersiblevehicle can also include memory storage. The memory storage can storethe data of the measured parameters. The memory storage can then beaccessed when the submersible vehicle is retrieved.

Numerous examples are provided herein to enhance understanding of thepresent disclosure. A specific set of statements are provided asfollows.

Statement 1: A submersible vehicle comprising: a housing; an opticalfiber coupled with the housing and communicatively coupled with a dataacquisition system; and a propulsion system coupled with the housing,the propulsion system configured to propel the submersible vehicle in afluid at a velocity; wherein the optical fiber is configured to bereleased at a release rate equal to or greater than the velocity of thesubmersible vehicle.

Statement 2: A submersible vehicle is disclosed according to Statement1, wherein the optical fiber is at rest relative to the fluid.

Statement 3: A submersible vehicle is disclosed according to Statements1 or 2, further comprising a bobbin coupled with the housing, whereinthe optical fiber is provided by the bobbin and is configured to bereleased from the bobbin.

Statement 4: A submersible vehicle is disclosed according to any ofpreceding Statements 1-3, wherein the propulsion system comprises atleast one of a propeller and a pump-jet system.

Statement 5: A submersible vehicle is disclosed according to any ofpreceding Statements 1-4, wherein the optical fiber is configured totransmit, in real-time, measured parameters to the data acquisitionsystem.

Statement 6: A submersible vehicle is disclosed according to Statement5, wherein the measured parameters include at least one of temperature,acoustics, pressure, chemical composition, visuals, and x-ray.

Statement 7: A submersible vehicle is disclosed according to Statements5 or 6, wherein the optical fiber is configured to be at least one of adistributed temperature sensor, a distributed acoustic sensor, adistributed pressure sensor, a chemical sensor, a camera, and an x-raysensor.

Statement 8: A submersible vehicle is disclosed according to any ofpreceding Statements 1-7, wherein the housing is made from at least oneof acetal resin, polyether ether ketone, aluminum, polyimide, andengineered thermoplastics.

Statement 9: A submersible vehicle is disclosed according to any ofpreceding Statements 1-8, further comprising sensors positioned in thehousing, the sensors configured to measure parameters, wherein themeasured parameters are transmitted through the optical fiber to thedata acquisition system.

Statement 10: A system comprising: a fluidic channel having a first endand a second end, the fluidic channel comprising a fluid; a submersiblevehicle disposed within the fluidic channel, the submersible vehiclecomprising: a housing; an optical fiber coupled with the housing andcommunicatively coupled with a data acquisition system; and a propulsionsystem coupled with the housing, the propulsion system configured topropel the submersible vehicle in a fluid at a velocity; wherein theoptical fiber is configured to be released at a release rate, therelease rate being equal to or greater than the velocity of thesubmersible vehicle.

Statement 11: A system is disclosed according to Statement 10, whereinthe optical fiber is at rest relative to the fluid.

Statement 12: A system is disclosed according to Statements 10 or 11,wherein the optical fiber is configured to transmit, in real-time,measured parameters of the fluidic channel to the data acquisitionsystem.

Statement 13: A system is disclosed according to Statement 12, whereinthe measured parameters include at least one of temperature, acoustics,pressure, chemical composition, visuals, and x-ray.

Statement 14: A system is disclosed according to Statements 12 or 13,wherein the optical fiber is configured to be at least one of adistributed temperature sensor, a chemical sensor, a camera, and anx-ray sensor.

Statement 15: A system is disclosed according to any of precedingStatements 10-14, wherein the submersible vehicle further comprisessensors, the sensors configured to measure parameters of the fluidicchannel, wherein the measured parameters are transmitted through theoptical fiber to the data acquisition system.

Statement 16: A system is disclosed according to Statement 15, whereinthe submersible vehicle further comprises a memory storage, wherein themeasured parameters are stored in the memory storage.

Statement 17: A system is disclosed according to any of precedingStatements 10-16, wherein the fluidic channel is one of a wellbore, adrill string, or a pipeline.

Statement 18: A system is disclosed according to any of precedingStatements 10-17, wherein the submersible vehicle further comprises abobbin coupled with the housing, wherein the optical fiber is providedby the bobbin and is configured to be released from the bobbin

Statement 19: A system is disclosed according to Statement 18, furthercomprising a second bobbin positioned proximate the first end of thefluidic channel, wherein one end of the optical fiber is contained inthe vehicle bobbin while an opposite end of the optical fiber iscontained in the second bobbin, the second bobbin is configured torelease the optical fiber at a second release rate such that the opticalfiber is at rest relative to the fluid.

Statement 20: A method comprising: providing a submersible vehicle and afluidic channel having a first end and a second end, the submersiblevehicle comprising: a housing; an optical fiber coupled with the housingand communicatively coupled with a data acquisition system; and apropulsion system coupled with the housing, the propulsion systemconfigured to propel the submersible vehicle; wherein the dataacquisition system is proximate the first end of the fluidic channel;deploying the submersible vehicle in a fluid in the fluidic channelthrough the first end of the fluidic channel; propelling, by thepropulsion system, the submersible vehicle from the first end toward thesecond end of the fluidic channel at a velocity; releasing the opticalfiber at a release rate equal to or greater than the velocity of thesubmersible vehicle; and transmitting, in real-time through the opticalfiber, measured parameters of the fluidic channel to the dataacquisition system.

The disclosures shown and described above are only examples. Even thoughnumerous characteristics and advantages of the present technology havebeen set forth in the foregoing description, together with details ofthe structure and function of the present disclosure, the disclosure isillustrative only, and changes may be made in the detail, especially inmatters of shape, size and arrangement of the parts within theprinciples of the present disclosure to the full extent indicated by thebroad general meaning of the terms used in the attached claims. It willtherefore be appreciated that the examples described above may bemodified within the scope of the appended claims.

What is claimed is:
 1. A submersible vehicle comprising: a housing; anoptical fiber coupled with the housing and communicatively coupled witha data acquisition system; and a propulsion system coupled with thehousing, the propulsion system configured to propel the submersiblevehicle in a fluid at a velocity, wherein the propulsion system includesat least one of propellers or a pump-jet system; wherein the opticalfiber is configured to be released at a release rate equal to or greaterthan the velocity of the submersible vehicle, wherein the optical fiberis configured to transmit, in real-time, measured parameters to the dataacquisition system, and wherein the submersible vehicle is buoyant so asto not sink or contact objects to be inspected.
 2. The submersiblevehicle of claim 1, wherein the optical fiber is at rest relative to thefluid.
 3. The submersible vehicle of claim 1, further comprising abobbin coupled with the housing, wherein the optical fiber is providedby the bobbin and is configured to be released from the bobbin.
 4. Thesubmersible vehicle of claim 1, wherein the measured parameters includeat least one of temperature, acoustics, pressure, chemical composition,visuals, and x-ray.
 5. The submersible vehicle of claim 1, wherein theoptical fiber is configured to be at least one of a distributedtemperature sensor, a distributed acoustic sensor, a distributedpressure sensor, a chemical sensor, a camera, and an x-ray sensor. 6.The submersible vehicle of claim 1, wherein the housing is made from atleast one of acetal resin, polyether ether ketone, aluminum, polyimide,and engineered thermoplastics.
 7. The submersible vehicle of claim 1,further comprising sensors positioned in the housing, the sensorsconfigured to measure parameters, wherein the measured parameters aretransmitted through the optical fiber to the data acquisition system. 8.A system comprising: a fluidic channel having a first end and a secondend, the fluidic channel comprising a fluid; a submersible vehicledisposed within the fluidic channel, the submersible vehicle comprising:a housing; a first bobbin coupled to the housing and configured torelease, at a first release rate, an optical fiber communicativelycoupled with a data acquisition system; and a propulsion system coupledwith the housing, the propulsion system configured to propel thesubmersible vehicle in the fluid at a velocity; and a second bobbinpositioned at the first end of the fluidic channel and configured torelease the optical fiber at a second release rate, wherein the secondrelease rate is different from the first release rate.
 9. The system ofclaim 8, wherein the optical fiber is at rest relative to the fluid. 10.The system of claim 8, wherein the optical fiber is configured totransmit, in real-time, measured parameters of the fluidic channel tothe data acquisition system.
 11. The system of claim 10, wherein themeasured parameters include at least one of temperature, acoustics,pressure, chemical composition, visuals, and x-ray.
 12. The system ofclaim 10, wherein the optical fiber is configured to be at least one ofa distributed temperature sensor, a distributed acoustic sensor, adistributed pressure sensor, a chemical sensor, a camera, and an x-raysensor.
 13. The system of claim 8, wherein the submersible vehiclefurther comprises sensors, the sensors configured to measure parametersof the fluidic channel, wherein the measured parameters are transmittedthrough the optical fiber to the data acquisition system.
 14. The systemof claim 13, wherein the submersible vehicle further comprises a memorystorage, wherein the measured parameters are stored in the memorystorage.
 15. The system of claim 8, wherein the fluidic channel is oneof a wellbore, a drill string, or a pipeline.
 16. The system of claim 8,wherein first release rate is equal to or greater than the velocity ofthe submersible vehicle, and wherein the second release rate is equal tothe velocity of the fluid such that the optical fiber is at restrelative to the fluid.
 17. A method comprising: providing a submersiblevehicle and a fluidic channel having a first end and a second end, thesubmersible vehicle comprising: a housing; an optical fiber coupled withthe housing and communicatively coupled with a data acquisition system;and a propulsion system coupled with the housing, the propulsion systemconfigured to propel the submersible vehicle; wherein the dataacquisition system is positioned proximate the first end of the fluidicchannel; deploying the submersible vehicle in a fluid in the fluidicchannel through the first end of the fluidic channel; propelling, by thepropulsion system, the submersible vehicle from the first end toward thesecond end of the fluidic channel at a velocity; releasing the opticalfiber at the submersible vehicle at a first release rate equal to orgreater than the velocity of the submersible vehicle; releasing theoptical fiber at the first end of the fluidic channel at a secondrelease rate such that the optical fiber is at rest relative to thefluid, wherein the first release rate is different from the secondrelease rate; and transmitting, in real-time through the optical fiber,measured parameters of the fluidic channel to the data acquisitionsystem.
 18. A submersible vehicle comprising: a housing; an opticalfiber coupled with the housing and communicatively coupled with a dataacquisition system; a propulsion system coupled with the housing, thepropulsion system configured to propel the submersible vehicle in afluid at a velocity, wherein the propulsion system includes at least oneof propellers or a pump-jet system; and a plurality of fins coupled tothe housing and configured to control at least one of a direction,orientation, or stability of the submersible vehicle as it is propelledin the fluid, wherein at least one fin of the plurality of fins isadjustable by a motor in communication with a processor that providesinstructions to the motor to move the at least one fin; wherein theoptical fiber is configured to be released at a release rate equal to orgreater than the velocity of the submersible vehicle, and wherein thesubmersible vehicle is buoyant so as to not sink or contact objects tobe inspected.